Automatic traditional Chinese medicine decocting method based on truss robots

Abstract

The invention discloses an automatic traditional Chinese medicine decocting method based on truss robots. The automatic traditional Chinese medicine decocting method comprises the steps: S1, state information of all heating furnaces are received in real time, and position coordinates of the heating furnaces in an idle state are transferred out; S2, decoction process information transmitted by scanning equipment is received, an allocation instruction is generated according to the decoction process information and the state information of the heating furnaces, and the allocation instruction is issued to a controller and the truss robots connected with the heating furnaces; and S3, after receiving the allocation instruction, the controller controls the one or more designated heating furnacesto be started and controls the working states of the corresponding heating furnaces according to the allocation instruction, meanwhile after the truss robots receive the allocation instruction, the motion states of the truss robots are controlled according to the position coordinates of the allocated heating furnaces, decoction pots are conveyed onto the heating furnaces to be heated, and the decoction pots are clamped, placed and conveyed within the moving range. Thus the production efficiency is improved.

Description

technical field [0001] The invention relates to the field of automatic Chinese medicine decoction, in particular to an automatic Chinese medicine decoction method based on a truss robot. Background technique [0002] At present, in the process of automatic pharmaceutical preparation of traditional Chinese medicine, in order to produce different types of medicinal liquids, it is necessary to add different medicinal materials into different frying pans, and then use workers to carry the frying pans and place them on a heating furnace for heating; When mass production is required, a large number of heating furnaces need to be installed in the factory building. A large number of heating furnaces can simultaneously decoct Chinese medicine in different frying pans, which can greatly improve production efficiency. However, when the number of heating furnaces is large, workers need to Carrying a large number of frying pans to the corresponding heating furnace will increase the labor...

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Problems solved by technology

[0002] At present, in the process of automatic pharmaceutical preparation of traditional Chinese medicine, in order to produce different types of medicinal liquids, it is necessary to add different medicinal materials into different frying pans, and then use workers to carry the frying pans and place them on a heating furnace for heating; When mass production is required, a large number of heating furnaces need to be installed in the factory building. A large number of heating furnaces can simultaneously decoct Chinese medicine in different frying pans, which can greatly improve production efficiency. However, when the number of heating furnaces is large, workers need to Carrying a large number of frying pans to the corresponding heating furnace will increase the labor force of the workers. At the same time, the temperature of the frying pan body is high after heating, and the workers are easy to burn when carrying it; , it is impossible to accurately control the heating time of each frying pot, which will easily lead to too long heating time, resulting in the loss of medicinal materials

However, in the existing pharmaceutical production line, there will be a transport trolley to carry the frying pan. Although it can reduce the labor force of the workers and avoid scalding the workers, the transport trolley needs to be transported within the specified transport track or transport space, which increases the labor cost. Due to the size of the factory building, the transport trolley is transported along the prescribed track, the transport time is slow, and the transfer of the frying pan from the transport trolley to the heating furnace requires the assistance of workers or other equipment, and the degree of automation is not high, resulting in production Efficiency cannot be improved

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